133 lines
No EOL
3.8 KiB
Java
133 lines
No EOL
3.8 KiB
Java
package roboter_demo;
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import com.sun.j3d.utils.geometry.Box;
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import javax.media.j3d.Appearance;
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import javax.media.j3d.BranchGroup;
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import javax.media.j3d.Material;
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import javax.media.j3d.Node;
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import javax.media.j3d.Transform3D;
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import javax.media.j3d.TransformGroup;
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import javax.vecmath.Vector3d;
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class Hand {
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private final float mWidth = 0.25F;
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private final float mScale = 1.0F;
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private final float mThumbWitdh = 0.025F;
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private BranchGroup mBrGrp = new BranchGroup();
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private TransformGroup mTfGrp = new TransformGroup();
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private TransformGroup mThumbTfGrp = new TransformGroup();
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private TransformGroup mFingersTfGrp = new TransformGroup();
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private double mSpan;
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private double mAngle;
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private Vector3d mVec = new Vector3d();
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private Transform3D mTrnTf = new Transform3D();
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private Transform3D mRotTf = new Transform3D();
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public BranchGroup getBrGrp() {
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return this.mBrGrp;
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}
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public Hand() {
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Box box1 = new Box(0.125F, 0.125F, 0.125F, 1, null);
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Box box2 = new Box(0.0125F, 0.125F, 0.125F, 1, null);
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Box box3 = new Box(0.0125F, 0.125F, 0.125F, 1, null);
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TransformGroup transformGroup = new TransformGroup();
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Vector3d vector3d = new Vector3d();
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Transform3D transform3D = new Transform3D();
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Material material1 = new Material();
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Material material2 = new Material();
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Appearance appearance1 = new Appearance();
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Appearance appearance2 = new Appearance();
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this.mSpan = 0.25D;
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this.mAngle = 0.0D;
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transformGroup.addChild((Node)box1);
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this.mThumbTfGrp.addChild((Node)box2);
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this.mFingersTfGrp.addChild((Node)box3);
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this.mTfGrp.addChild((Node)transformGroup);
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this.mTfGrp.addChild((Node)this.mThumbTfGrp);
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this.mTfGrp.addChild((Node)this.mFingersTfGrp);
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this.mBrGrp.addChild((Node)this.mTfGrp);
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moveThumbAndFingers(this.mSpan);
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rotateHand(0.0D);
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material1.setDiffuseColor(0.0F, 1.0F, 1.0F);
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material1.setAmbientColor(0.0F, 0.4F, 0.4F);
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appearance1.setMaterial(material1);
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box1.setAppearance(appearance1);
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material2.setDiffuseColor(1.0F, 1.0F, 0.0F);
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material2.setAmbientColor(0.4F, 0.4F, 0.0F);
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appearance2.setMaterial(material2);
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box2.setAppearance(appearance2);
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box3.setAppearance(appearance2);
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this.mTfGrp.setCapability(18);
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this.mThumbTfGrp.setCapability(18);
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this.mFingersTfGrp.setCapability(18);
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this.mBrGrp.compile();
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}
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public void moveThumbAndFingers(double paramDouble) {
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this.mVec.set(-paramDouble / 2.0D, 0.25D, 0.0D);
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this.mTrnTf.set(this.mVec);
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this.mThumbTfGrp.setTransform(this.mTrnTf);
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this.mVec.set(paramDouble / 2.0D, 0.25D, 0.0D);
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this.mTrnTf.set(this.mVec);
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this.mFingersTfGrp.setTransform(this.mTrnTf);
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}
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public void incHandSpan() {
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if (this.mSpan < 0.25D)
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this.mSpan += 0.01D;
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moveThumbAndFingers(this.mSpan);
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}
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public void incHandSpan(double paramDouble) {
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this.mSpan += paramDouble;
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if (this.mSpan <= 0.02500000037252903D)
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this.mSpan = 0.02500000037252903D;
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if (this.mSpan >= 0.25D)
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this.mSpan = 0.25D;
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moveThumbAndFingers(this.mSpan);
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}
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public void decHandSpan() {
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if (this.mSpan > 0.02500000037252903D)
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this.mSpan -= 0.01D;
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moveThumbAndFingers(this.mSpan);
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}
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public void rotateHand(double paramDouble) {
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this.mRotTf.rotX(paramDouble);
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this.mTfGrp.setTransform(this.mRotTf);
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}
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public void incHandAngle() {
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this.mAngle += 0.02D;
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rotateHand(this.mAngle);
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}
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public void incHandAngle(double paramDouble) {
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this.mAngle += paramDouble;
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rotateHand(this.mAngle);
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}
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public void decHandAngle() {
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this.mAngle -= 0.02D;
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rotateHand(this.mAngle);
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}
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}
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/* Location: /opt/SpaceControl/Roboter_Demo.jar!/roboter_demo/Hand.class
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* Java compiler version: 8 (52.0)
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* JD-Core Version: 1.2.1
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*/ |